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| author | px4dev <px4@purgatory.org> | 2012-11-30 00:02:47 -0800 |
|---|---|---|
| committer | px4dev <px4@purgatory.org> | 2012-11-30 00:02:47 -0800 |
| commit | 9fa794a8faa2d30023d9943beae55a05ed4e48a0 (patch) | |
| tree | cc05d6eafae584fb6c5cdfc731ece7f8be5f8f82 /apps/px4io/px4io.h | |
| parent | e153476950a3fbda230c6bddd9ad35018cfda559 (diff) | |
| download | px4-firmware-9fa794a8faa2d30023d9943beae55a05ed4e48a0.tar.gz px4-firmware-9fa794a8faa2d30023d9943beae55a05ed4e48a0.tar.bz2 px4-firmware-9fa794a8faa2d30023d9943beae55a05ed4e48a0.zip | |
Rework the PX4IO software architecture:
- Use a separate thread for handing R/C inputs and outputs.
- Remove all PX4IO R/C receiver configuration; it's all automatic now.
- Rework the main loop, dedicate it to PX4FMU communications after startup.
- Fix several issues in the px4io driver that would cause a crash if PX4IO was not responding.
Diffstat (limited to 'apps/px4io/px4io.h')
| -rw-r--r-- | apps/px4io/px4io.h | 15 |
1 files changed, 8 insertions, 7 deletions
diff --git a/apps/px4io/px4io.h b/apps/px4io/px4io.h index 0a3a4448c..2ecab966d 100644 --- a/apps/px4io/px4io.h +++ b/apps/px4io/px4io.h @@ -147,7 +147,7 @@ extern volatile int timers[TIMER_NUM_TIMERS]; /* * Mixer */ -extern int mixer_init(void); +extern void mixer_tick(void); /* * Safety switch/LED. @@ -158,15 +158,16 @@ extern void safety_init(void); * FMU communications */ extern void comms_init(void); -extern void comms_check(void); +extern void comms_main(void) __attribute__((noreturn)); /* - * Serial receiver decoders. + * R/C receiver handling. */ -extern void dsm_init(unsigned mode); -extern void dsm_input(int fd); -extern void sbus_init(unsigned mode); -extern void sbus_input(int fd); +extern void controls_main(void); +extern int dsm_init(const char *device); +extern void dsm_input(void); +extern int sbus_init(const char *device); +extern void sbus_input(void); /* * Assertion codes |